A method for singularity reduction in a triangular 3-UPS mechanism is discussed. This mechanism usually has singularity near the origin. Changing the active joint angle can arrive at a suitable workspace near the origin without any singularity. Moreover, a 4-UPS mechanism, based on adding one additional leg to the 3-UPS mechanism, has a larger singular free workspace. Moreover, force analysis of two different mechanisms shows a reasonable and consistent force distribution between the different actuators. Singular free workspace is one of the characteristics which makes this mechanism ideal for haptic applications.
Singularity Reduction of a 3-UPS Mechanism With 6 DOF for Haptic Applications
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Vossoughi, GR, & Khodabakhsh, M. "Singularity Reduction of a 3-UPS Mechanism With 6 DOF for Haptic Applications." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3. Istanbul, Turkey. July 12–14, 2010. pp. 619-626. ASME. https://doi.org/10.1115/ESDA2010-24386
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